[PhilBot]

You may want to display the output that that code provides.

Our testing indicated that when you connect joystick outputs into the "obvious" inputs of the rectangular to polar conversion, it produces a zero angle when the joystick was moved to the right (logical for a normal math chart) and of course, forward and backwards was reversed because of the stupid forward = -ve orientation of the joysticks.

So I suggest normalizing you joystic outputs to generate +/-1 with propper cartesian (rectangular) orientation first...

It's too bad that the holomonic function doesn't adopt a more mathematically correct (standard) input... eg orientation and units.